/*******************************************************************************
 * Copyright (C) 2013 Maxim Integrated, All Rights Reserved.
 *
 * This software is protected by copyright laws of the United States and
 * of foreign countries. This material may also be protected by patent laws
 * and technology transfer regulations of the United States and of foreign
 * countries. This software is furnished under a license agreement and/or a
 * nondisclosure agreement and may only be used or reproduced in accordance
 * with the terms of those agreements. Dissemination of this information to 
 * any party or parties not specified in the license agreement and/or 
 * nondisclosure agreement is expressly prohibited. 

    Description:
    $Id: free_imu.h 9 2013-12-22 23:22:47Z kgills $
*******************************************************************************/

#ifndef _FREE_IMU_H_
#define _FREE_IMU_H_


/***** Includes *****/

#include "fixedptc.h"

/***** Definitions *****/


/***** Globals *****/


/***** Functions Declarations *****/

void free_imu_init();
void DCM_filter(fixedpt gx, fixedpt gy, fixedpt gz, fixedpt ax, fixedpt ay, fixedpt az, fixedpt mx, fixedpt my, fixedpt mz);
void get_Q(fixedpt* q_0, fixedpt* q_1, fixedpt* q_2, fixedpt* q_3);

/******************************************************************************/


#endif /* _FREE_IMU_H_ */
